from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    config = os.path.join(
        get_package_share_directory('outside_navigation'),
        'config',
        'outside_navigator.params.yaml'
    )
    
    return LaunchDescription([
        Node(
            package='outside_navigation',
            executable='outside_navigator',
            name='outside_navigator',
            parameters=[config],
            output='screen'
        )
    ])